CN112510553A - Intelligent system is patrolled and examined to robot and unmanned aerial vehicle combination formula transformer substation - Google Patents
Intelligent system is patrolled and examined to robot and unmanned aerial vehicle combination formula transformer substation Download PDFInfo
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- CN112510553A CN112510553A CN202011276152.6A CN202011276152A CN112510553A CN 112510553 A CN112510553 A CN 112510553A CN 202011276152 A CN202011276152 A CN 202011276152A CN 112510553 A CN112510553 A CN 112510553A
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- unmanned aerial
- aerial vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Anchoring
- B64F1/125—Mooring or ground handling devices for helicopters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
Abstract
The invention relates to an intelligent transformer substation inspection system combining a robot and an unmanned aerial vehicle, which is characterized by comprising a signal connection between the robot and the unmanned aerial vehicle, wherein the robot is used for low-altitude inspection and discrimination inspection; the unmanned aerial vehicle is remotely controlled by the robot and is used for high-altitude inspection; when the unmanned aerial vehicle does not work, the unmanned aerial vehicle is parked on the robot, and data of routing inspection is imported into the robot; the robot charges for unmanned aerial vehicle. The transformer substation inspection intelligent system integrates the advantages of the robot and the unmanned aerial vehicle, can fully exert the combined advantages of the robot and the unmanned aerial vehicle, and realizes the coordination of the robot and the unmanned aerial vehicle for inspection, thereby realizing the all-dimensional inspection operation of the transformer substation.
Description
Technical Field
The invention relates to the field of substation inspection, in particular to a robot and unmanned aerial vehicle combined substation inspection intelligent system.
Background
With the rapid development of intelligent power grids in China, a large number of transformer substation inspection robots are put into use, and the safety inspection work of transformer substations is more and more intelligent. Although the inspection robot avoids many problems of manual inspection (such as missing inspection, false inspection, incomplete inspection and the like caused by human subjective factors), the inspection robot has a relatively low visual angle and a certain visual blind area, so that the inspection robot is difficult to inspect the operation condition and the potential safety hazard of the electrical equipment in an all-around manner.
However, unmanned aerial vehicles are increasingly being used in power inspection work, and this technology is gradually becoming mature. The existing unmanned aerial vehicle is mostly used in the inspection operation of overhead transmission lines with higher towers, and then the unmanned aerial vehicle for inspection of transformer substations is gradually developed. However, the current unmanned aerial vehicle has short endurance time and is difficult to carry out long-term high-strength inspection operation. In addition, the unmanned aerial vehicle at present patrols and examines the mode that adopts manual remote control more, does not adopt the robot to carry out the remote control hardly. The manual remote control is divided into a short-distance remote control mode and a long-distance remote control mode, but the two modes still have artificial subjective control factors, so that accidents are easy to happen, and economic losses are caused.
Disclosure of Invention
The invention aims to solve the problems of inspection visual blind areas of a robot, cruising and data transmission distortion of an inspection unmanned aerial vehicle. The transformer substation inspection intelligent system integrates the advantages of the robot and the unmanned aerial vehicle, can fully exert the respective advantages of the robot and the unmanned aerial vehicle, and realizes the coordination of the robot and the unmanned aerial vehicle for inspection, thereby realizing the all-dimensional inspection operation of the transformer substation.
The technical scheme adopted for realizing the aim of the invention is as follows: a robot and unmanned aerial vehicle combined type substation inspection intelligent system is characterized by comprising a robot and an unmanned aerial vehicle which are in signal connection, wherein the robot is used for low-altitude inspection and discrimination inspection; the unmanned aerial vehicle is remotely controlled by the robot and is used for high-altitude inspection; the unmanned aerial vehicle is parked on the robot when not working, and data of inspection is imported into the robot; the robot charges for unmanned aerial vehicle.
Further, the robot includes: the system comprises a telephoto lens, an infrared temperature measurement sensor, a carrier apron, a triangular marker chart, three laser transmitters, four rotary latches, a charging interface, a data transmission interface, an electric energy storage module and a remote control module; the telephoto lens and the infrared temperature measuring sensor are fixed on the same cloud platform, and the cloud platform is arranged at the front end of the robot; the air bearing platform is lower than the holder by one step and is positioned at the rear end of the robot; the triangular mark image is arranged on the surface of the apron, and three angles of the triangular mark image respectively correspond to the positions of the three laser transmitters; the three laser transmitters are respectively positioned below three rotary type clamping locks; the four rotary type latches are positioned below the surface of the apron, are all of a ring-plate structure and are used for fixing the unmanned aerial vehicle stopped on the apron; the charging interface and the data transmission interface are positioned on a small boss in the middle of the fourth rotary clamping lock hole, comprise four electrodes of a power supply anode, a power supply cathode, a data anode and a data cathode, are distributed on the small boss in a ring mode, can be electrically connected with receiving end electrodes in the legs of the unmanned aerial vehicle, and are used for charging and data transmission; the electric energy storage module is positioned below the cradle head and the parking apron and provides electric energy for the robot and the unmanned aerial vehicle; the remote control module is integrated inside the robot, and can send instruction information to the unmanned aerial vehicle to realize real-time communication between the unmanned aerial vehicle and the remote control module.
Further, the drone includes: the intelligent parking system comprises four parking latches, three laser receivers, a charging interface receiving end, a data transmission interface receiving end, a CCD (charge coupled device) sensor, an image acquisition device and an infrared temperature measuring device; the four parking latches are respectively arranged at the lower end parts of four legs of the unmanned aerial vehicle, are coaxial with the legs of the unmanned aerial vehicle and correspond to rotary latch locking ports on the air bearing apron; the three laser receivers are respectively arranged at the top ends of the concave surfaces at the bottoms of the three rotary type clamping locks; the charging interface receiving end and the data interface receiving end are arranged below the concave surface at the bottom of the fourth rotary lock, and the two pairs of electrodes are of a spring piece type structure; the CCD sensor is arranged on the upper part of the concave surface at the bottom of the fourth parking lock, so that the lens of the CCD sensor is exposed between the concave surfaces of the charging interface receiving end and the data interface receiving end and is used for identifying a triangular mark image on the apron; the image acquisition device and the infrared temperature measuring device are sensors for unmanned aerial vehicle inspection operation.
The invention has the beneficial effects that: the intelligent transformer substation inspection system with the combination of the robot and the unmanned aerial vehicle integrates the advantages of the robot and the unmanned aerial vehicle, can fully exert the respective advantages of the robot and the unmanned aerial vehicle, and realizes the coordinated inspection of the robot and the unmanned aerial vehicle, thereby realizing the omnibearing inspection operation of the transformer substation. The problem of high-altitude blind spots in the transformer substation in the routing inspection is effectively solved. The unmanned aerial vehicle can stop on an apron of the robot, and is ready for aerial inspection operation at any time; the unmanned aerial vehicle can be rapidly charged through the charging interface and the data transmission interface on the apron, so that the endurance problem of the unmanned aerial vehicle is solved, and meanwhile, the unmanned aerial vehicle can also introduce the data to be inspected into the robot through the interface, so that the distortion problem of data wireless transmission is effectively avoided; when a visual blind area or an aerial inspection task is found in the process of inspecting the power equipment by the robot, an inspection requirement is sent to the unmanned aerial vehicle through a remote control module integrated in the robot, the unmanned aerial vehicle is remotely controlled to reach a specified position for inspection operation, and the intelligent remote control of the unmanned aerial vehicle can be realized; after the unmanned aerial vehicle finishes the inspection, the unmanned aerial vehicle returns to the sky above the air bearing apron, the CCD sensor adjusts the three laser receivers to be capable of receiving three beams of laser through recognizing the triangular marker map, and the unmanned aerial vehicle accurately lands on the air bearing apron along the three beams of laser, so that the problem of accurate landing of the unmanned aerial vehicle is solved; for solving unmanned aerial vehicle's the stable problem of charging and data transmission, unmanned aerial vehicle's receiving end interface all adopts the shell fragment formula design, and the configuration is revolved the formula kayser on the air bearing apron simultaneously, plays the fixed unmanned aerial vehicle's after falling effect, effectively avoids the problem of robot walking in-process unmanned aerial vehicle from the air bearing apron landing.
Drawings
Fig. 1 is a schematic diagram of an inspection intelligent system of a robot and unmanned aerial vehicle combined type transformer substation;
FIG. 2 is a schematic illustration of the structural distribution of the apron portion of FIG. 1;
FIG. 3 is a top and oblique side view of the apron;
FIG. 4 is a diagram of the structure of the UAV of FIG. 1;
FIG. 5 is a bottom view of FIG. 4;
fig. 6 is a left side view of fig. 4.
The system comprises a robot 1, an unmanned aerial vehicle 2, a telephoto lens 3, an infrared temperature measuring sensor 4, an airborne apron 5, a triangular marking diagram 6, a laser transmitter 7, a rotary latch 8, a charging interface 9, a data transmission interface 10, an electric energy storage module 11, a remote control module 12, a shutdown latch 13, a laser receiver 14, a charging interface receiving terminal 15, a data transmission interface receiving terminal 16, a CCD sensor 17, an image acquisition device 18 and an infrared temperature measuring device 19.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Referring to fig. 1-6, the invention relates to an intelligent inspection system for a combined transformer substation of a robot and an unmanned aerial vehicle, which comprises: the robot 1 is in signal connection with the unmanned aerial vehicle 2, and the robot 1 is used for low-altitude inspection and discrimination inspection; the unmanned aerial vehicle 2 is remotely controlled by the robot 1 and is used for high-altitude inspection; the unmanned aerial vehicle 2 is parked on the robot 1 when not working, and data of inspection is imported into the robot 1; robot 1 charges for unmanned aerial vehicle 2. The robot 1 includes: the remote control system comprises a telephoto lens 3, an infrared temperature measurement sensor 4, a carrier apron 5, a triangular marker figure 6, three laser transmitters 7, four rotary type latches 8, a charging interface 9, a data transmission interface 10, an electric energy storage module 11 and a remote control module 12; the telephoto lens 3 and the infrared temperature measuring sensor 4 are fixed on the same cloud platform, and the cloud platform is arranged at the front end of the robot 1; the apron 5 is lower than the tripod head by one step and is positioned at the rear end of the robot 1; the triangular mark figure 6 is arranged on the surface of the loading apron 5, and three angles of the triangular mark figure 6 respectively correspond to the positions of the three laser emitters 7; the three laser transmitters 7 are respectively positioned below three rotary type clamping locks 8; the four rotary type clamping locks 8 are positioned below the surface of the air bearing apron 5, are all of a ring-plate structure and are used for fixing the unmanned aerial vehicle 2 stopped on the air bearing apron 5; the charging interface 9 and the data transmission interface 10 are arranged on a small boss in the middle of the fourth rotary latch 8, comprise four electrodes of a power supply anode, a power supply cathode, a data anode and a data cathode, are distributed on the small boss in a ring shape, can be electrically connected with a receiving end electrode in a leg of the unmanned aerial vehicle 2, and are used for charging and data transmission; the electric energy storage module 11 is positioned below the cloud deck and the parking apron 5 and provides electric energy for the robot 1 and the unmanned aerial vehicle 2; the remote control module 12 is integrated in the robot 1, and can send instruction information to the unmanned aerial vehicle 1 to realize real-time communication between the unmanned aerial vehicle and the unmanned aerial vehicle. The unmanned aerial vehicle 2 includes: the system comprises four parking locks 13, three laser receivers 14, a charging interface receiving end 15, a data transmission interface receiving end 16, a CCD sensor 17, an image acquisition device 18 and an infrared temperature measuring device 19; the four parking latches 13 are respectively arranged at the lower end parts of four legs of the unmanned aerial vehicle 2, are coaxial with the legs of the unmanned aerial vehicle 2, and correspond to rotary latch openings on the apron 5; the three laser receivers 14 are respectively arranged at the top ends of the concave surfaces at the bottoms of the three rotary latches 8; the charging interface receiving end 15 and the data interface receiving end 16 are arranged below the concave surface at the bottom of the fourth rotary latch 8, and the two pairs of electrodes are of a spring piece type structure; the CCD sensor 17 is arranged at the upper part of the sunken surface at the bottom of the fourth parking lock 8, so that the lens of the CCD sensor is exposed in the middle of the sunken surface where the charging interface receiving end 15 and the data interface receiving end 16 are located and is used for identifying a triangular mark figure 6 on the carrier apron 5; the image acquisition device 18 and the infrared temperature measuring device 19 are sensors for the unmanned aerial vehicle 2 to perform inspection operation.
The invention discloses a robot and unmanned aerial vehicle combined substation inspection intelligent system which comprises a robot 1 and an unmanned aerial vehicle 2. The robot 1 is mainly responsible for completing low-altitude inspection tasks and screening inspection. Robot 1 patrols and examines the in-process at the low latitude, and when the discovery has the vision blind area or has the high altitude to patrol and examine the demand, opens four rotary type kaysers 8 on the year airport apron 5 immediately to fly to the position that needs were patrolled and examined through remote control module 12 control unmanned aerial vehicle 2, unmanned aerial vehicle begins to implement independently and patrols and examines. The unmanned aerial vehicle automatically returns to the air and lands on the air bearing apron 5 after finishing the inspection operation.
After the unmanned aerial vehicle 2 finishes the inspection work, the unmanned aerial vehicle automatically navigates back to the upper part of the intelligent robot 1, and then the CCD sensor 17 below the fourth leg of the unmanned aerial vehicle 2 identifies the triangular marker chart 6 on the apron 5. The unmanned aerial vehicle 2 adjusts the posture according to the three angle orientations of the triangular marking diagram 6, so that the three legs provided with the three laser receivers 14 are consistent with the three angles of the triangular marking diagram 6 in orientation, and the three laser receivers 14 can receive laser beams emitted by the three laser emitters 7 on the apron 5 more quickly. After three laser receiver 14 received the laser beam, unmanned aerial vehicle 2 slowly descended along the laser beam, to four soon formula kaysers 8 on the air-bearing level ground 5 are inserted to the shut down kayser 13 of four legs tip in, four soon formula kaysers 8 are rotatory in order to lock the unmanned aerial vehicle horn afterwards to prevent that the landing phenomenon from appearing in unmanned aerial vehicle 2 at intelligent robot 1 walking in-process.
After the unmanned aerial vehicle 2 lands on the apron 5, the charging interface receiving end 15 and the data transmission interface receiving end 16 below the fourth leg are correspondingly connected with the charging interface 9 and the data transmission interface 10 below the corresponding fourth rotary latch 8 on the apron 5, and the robot 1 immediately starts to read the inspection data of the unmanned aerial vehicle 2 and performs quick charging on the inspection data to prepare for next inspection work.
The robot 1 and the unmanned aerial vehicle 2 are manufactured according to the prior art, and can also be modified by using products sold in the market. The electronic equipment and the components used in the invention are all commercially available products.
The description of the present invention is not intended to be exhaustive or to limit the scope of the claims, and those skilled in the art will be able to conceive of other substantially equivalent alternatives, without inventive step, based on the teachings of the present invention.
Claims (3)
1. A robot and unmanned aerial vehicle combined type substation inspection intelligent system is characterized by comprising a robot and an unmanned aerial vehicle which are in signal connection, wherein the robot is used for low-altitude inspection and discrimination inspection; the unmanned aerial vehicle is remotely controlled by the robot and is used for high-altitude inspection; the unmanned aerial vehicle is parked on the robot when not working, and data of inspection is imported into the robot; the robot charges for unmanned aerial vehicle.
2. The intelligent system for routing inspection of the transformer substation with the combination of the robot and the unmanned aerial vehicle according to claim 1, wherein the robot comprises: the system comprises a telephoto lens, an infrared temperature measurement sensor, a carrier apron, a triangular marker chart, three laser transmitters, four rotary latches, a charging interface, a data transmission interface, an electric energy storage module and a remote control module; the telephoto lens and the infrared temperature measuring sensor are fixed on the same cloud platform, and the cloud platform is arranged at the front end of the robot; the air bearing platform is lower than the holder by one step and is positioned at the rear end of the robot; the triangular mark image is arranged on the surface of the apron, and three angles of the triangular mark image respectively correspond to the positions of the three laser transmitters; the three laser transmitters are respectively positioned below three rotary type clamping locks; the four rotary type latches are positioned below the surface of the apron, are all of a ring-plate structure and are used for fixing the unmanned aerial vehicle stopped on the apron; the charging interface and the data transmission interface are positioned on a small boss in the middle of the fourth rotary lock, comprise four electrodes of a power supply anode, a power supply cathode, a data anode and a data cathode, are distributed on the small boss in a ring mode, can be electrically connected with a receiving end electrode in a leg of the unmanned aerial vehicle, and are used for charging and data transmission; the electric energy storage module is positioned below the cradle head and the parking apron and provides electric energy for the robot and the unmanned aerial vehicle; the remote control module is integrated inside the robot, and can send instruction information to the unmanned aerial vehicle to realize real-time communication between the unmanned aerial vehicle and the remote control module.
3. The intelligent substation inspection system according to claim 1, wherein the unmanned aerial vehicle comprises: the intelligent parking system comprises four parking latches, three laser receivers, a charging interface receiving end, a data transmission interface receiving end, a CCD (charge coupled device) sensor, an image acquisition device and an infrared temperature measuring device; the four parking latches are respectively arranged at the lower end parts of four legs of the unmanned aerial vehicle, are coaxial with the legs of the unmanned aerial vehicle and correspond to rotary latch locking ports on the air bearing apron; the three laser receivers are respectively arranged at the top ends of the concave surfaces at the bottoms of the three rotary type clamping locks; the charging interface receiving end and the data interface receiving end are arranged below the concave surface at the bottom of the fourth rotary lock, and the two pairs of electrodes are of a spring piece type structure; the CCD sensor is arranged on the upper part of the concave surface at the bottom of the fourth parking lock, so that the lens of the CCD sensor is exposed between the concave surfaces of the charging interface receiving end and the data interface receiving end and is used for identifying a triangular mark image on the apron; image acquisition device and infrared temperature measuring device etc. are the inductor that unmanned aerial vehicle patrolled and examined the operation.
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| CN202011276152.6A CN112510553B (en) | 2020-11-16 | 2020-11-16 | Robot and unmanned aerial vehicle combination formula transformer substation patrol and examine intelligent system |
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| CN202011276152.6A CN112510553B (en) | 2020-11-16 | 2020-11-16 | Robot and unmanned aerial vehicle combination formula transformer substation patrol and examine intelligent system |
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| CN113485414A (en) * | 2021-06-25 | 2021-10-08 | 国网山东省电力公司济宁市任城区供电公司 | Fault processing system and method for computer monitoring device of substation |
| CN113500579A (en) * | 2021-07-13 | 2021-10-15 | 广东电网有限责任公司 | Inspection method and inspection device |
| CN113978741A (en) * | 2021-11-09 | 2022-01-28 | 国网山东省电力公司平邑县供电公司 | Cellular power distribution station and peripheral circuit inspection device thereof |
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| CN112510553B (en) | 2022-06-28 |
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